/**
 * @file SubBumper.h
 * @author 
 * @brief 订阅Bumper触发事件topic
 * @version 1.0
 * @date 2020-08-20
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/u_int32.hpp"
#include "gazebo_msgs/msg/contacts_state.hpp"
#include "std_msgs/msg/u_int8_multi_array.hpp"

namespace behavior_controller
{
    namespace SubBumper
    {
        void SubBumperInfo(rclcpp::Node::SharedPtr &node_handle);
        void sub_callback2(const std_msgs::msg::UInt8MultiArray::SharedPtr msg);
        void sub_callback(const gazebo_msgs::msg::ContactsState::SharedPtr msg);
    }; // namespace SubBumper
} // namespace behavior_controller